WO2009011296A1 - 経路計画装置、経路計画方法及び移動体 - Google Patents
経路計画装置、経路計画方法及び移動体 Download PDFInfo
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- WO2009011296A1 WO2009011296A1 PCT/JP2008/062544 JP2008062544W WO2009011296A1 WO 2009011296 A1 WO2009011296 A1 WO 2009011296A1 JP 2008062544 W JP2008062544 W JP 2008062544W WO 2009011296 A1 WO2009011296 A1 WO 2009011296A1
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- Prior art keywords
- route
- movement
- area
- moving
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- Prior art date
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 91
- 238000001514 detection method Methods 0.000 claims description 7
- 230000005764 inhibitory process Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 230000007613 environmental effect Effects 0.000 description 5
- 101100298222 Caenorhabditis elegans pot-1 gene Proteins 0.000 description 4
- 241000252233 Cyprinus carpio Species 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000010845 search algorithm Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Definitions
- the present invention provides, for example, a route planning device, a route planning method, and a movement equipped with this route planning device for a moving body such as a mouth pot that can move autonomously to determine a moving route according to surrounding conditions.
- a route planning device for example, a route planning device, a route planning method, and a movement equipped with this route planning device for a moving body such as a mouth pot that can move autonomously to determine a moving route according to surrounding conditions.
- a moving body such as a mouth pot that can move autonomously to determine a moving route according to surrounding conditions.
- Robots such as autonomous robots are designed to recognize the environment around them and make a route plan and move accordingly.
- a route planning device mounted on such a robot a travel route is planned using an environment map for determining whether or not it is possible to move even in an area where there is a level difference from the floor surface.
- Patent Document 1 describes a technique for achieving the above.
- a multi-plane extraction unit that calculates a plane parameter from a parallax image or a distance image and extracts a plurality of planes including a floor surface; an obstacle that recognizes an obstacle on a plurality of planes including the floor surface
- An object recognition unit an environmental map update unit that creates and updates an environmental map for each plane based on the recognition results of the obstacle recognition unit, and a route planning unit that performs route planning based on these environmental maps .
- the route planning department Even if an area is identified as an obstacle on the environmental map of the plane, if the area is not an obstacle on an environmental map on another plane, the area is selected as a candidate for the travel route. In general, in such a route planning device, the shortest route is generated from the start to the goal.
- Patent Document 1 Japanese Patent Laid-Open No. 2 0 0 5-9 2 8 2 0 Disclosure of Invention
- the power that is normally used the shortest route search method in order to generate the shortest route from the start to the goal, including a sharp curve Such a movement route is also generated. If the route includes such a sharp carp, it will be difficult to follow the wheel moving port pot.
- the present invention has been made to solve such problems, and when mounted on a robot or the like, a path planning apparatus, a path planning method, and a path capable of expressing a natural moving operation.
- the purpose is to provide a moving body equipped with a planning device.
- a path planning device includes a movement prohibited area setting unit that sets a first movement prohibited area for assisting generation of a movement path on one side or both sides of a moving body, and the moving body within the first movement prohibited area.
- a path determining unit that determines a moving path to a target position so that the moving path does not move, and the movement prohibited area setting unit sets the first movement prohibited area so that the moving path passes through the center of the moving body. It is to set.
- a moving body such as a robot apparatus
- a first movement prohibition area that guides generation of a moving path so that the moving path of the moving body passes through the center of the moving body, Prevents creation of uninvolved travel paths.
- the movement prohibited area setting unit can set the first movement prohibited area on both sides of the outer periphery of the moving body center or on both sides of the moving body so as to come into contact with the occupied area of the moving body. This makes it possible to resonate ⁇ TO
- the first movement prohibition area is provided on both sides of the center of the moving object. By providing the first movement prohibition area, it is possible to generate a movement path that passes through the center of the moving object.
- it may further include an area adjustment unit that adjusts the size of the first movement prohibited area according to the movement of the moving body. For example, when a person is loaded, a heavy object is transported, When transporting various liquids, etc., the size of the movement-inhibited area can be adjusted according to various operations to turn slowly or allow sudden turning.
- the area adjusting unit may adjust the size of the first movement prohibited area according to a moving speed of the moving body.
- the first movement prohibited area may be a circular or elliptical area, and in this case, the area adjustment unit may increase the moving speed of the moving body as the first movement prohibited area. It can be adjusted so that the radius of the circle or ellipse constituting the diameter increases. As a result, when the moving speed is fast, sudden turning is prohibited and the mouth pot is prevented from slipping or falling.
- region setting part can set a 2nd movement prohibition area
- the second movement prohibition region can be a circular or elliptical region including the obstacle, and in this case, the region adjustment unit increases the moving speed of the moving body, The radius of the circle or ellipse constituting the second movement prohibited area can be adjusted to be large.
- the path planning method includes a movement prohibited area setting step for setting the first movement prohibited area for assisting a movement path on one side or both sides of the moving body, and the moving body moves in the first movement prohibited area.
- a route determining step for determining a route to a target position so that the first movement prohibited region is set so that the movement route passes through the center of the moving body in the movement prohibited region setting step. It is.
- the moving body includes: a route planning unit that generates a moving route; and a moving unit that moves based on the moving route generated by the route planning unit.
- the route planning unit includes one or both sides of the moving body.
- a movement prohibition area setting unit for assisting generation of a movement path and setting a first movement prohibition area so as to pass through the center of the moving object; and a target so that the moving object does not move in the first movement prohibition area.
- a route determination unit that determines a movement route to the position.
- a moving path passing through the center of the moving body can be generated by the moving body, and a natural moving operation can be expressed.
- a path planning apparatus when mounted on a mobile body such as a robot, a path planning apparatus, a path planning method, and a mobile body equipped with the path planning apparatus capable of expressing a natural movement operation are provided. can do.
- FIG. 1 is a perspective view showing a bipedal walking type robot according to an embodiment of the present invention.
- FIG. 2 is a block diagram showing a robot according to an embodiment of the present invention.
- FIG. 3 is a block diagram showing a route planning apparatus according to an exemplary embodiment of the present invention.
- FIG. 4 is a diagram for explaining a route guide area set by a route guide area setting unit and a prohibited area set by a prohibited area setting unit in the route planning apparatus according to the embodiment of the present invention.
- FIG. 5A is a diagram showing a route guide region set by a route guide region setting unit in the route planning device according to the exemplary embodiment of the present invention, and is a diagram showing when the speed is low.
- FIG. 5B is a diagram showing a route guide region set by the route guide region setting unit in the route planning device according to the exemplary embodiment of the present invention, and a diagram showing when the speed is high.
- FIG. 5C The process in the route planning apparatus according to the embodiment of the present invention.
- FIG. 6 is a flowchart showing a route planning method according to the exemplary embodiment of the present invention. Explanation of symbols
- the present invention is applied to a ropot device that is mounted with a path planning device capable of expressing a natural movement operation and is movable by, for example, a wheel.
- the robot is arranged on both sides of the robot.
- the route guide area sets the route in an area other than the route guide area, a route that turns sharply even if there is an obstacle, etc.
- the higher the speed of the route guide area the larger the route guide area is set, and the more natural motion is expressed by the robot.
- FIG. 1 is a perspective view showing a robot according to an embodiment of the present invention.
- the robot 1 has a head unit 2, two left and right arm units 3a and 3b, and two left and right leg units 4a and 4b at a predetermined position of the trunk unit 5. It is connected.
- the robot 1 according to the present embodiment is configured to be movable by wheels built in the leg units 4a and 4b.
- the robot may be a biped or quadruped walking type robot.
- the head unit 2 includes an imaging unit 6 and can capture a predetermined range around the head unit 2.
- the head unit 2 is provided with a microphone, a speaker, etc. (not shown), and can recognize and answer a call from the user.
- the head unit 2 is connected to the trunk unit 5 so as to be able to rotate in the left-right direction in a plane horizontal to the floor surface. The surrounding environment can be imaged.
- the arm unit 3a, 3b and the leg unit 4a, 4b are respectively processed by the arithmetic processing unit included in the control unit incorporated in the trunk unit 5 according to a predetermined control program.
- the amount of driving of the wheel included in the joint part and leg part 4a, 4b included in 3b is controlled, and the joint driving angle of each joint and the rotation angle of the wheel are determined, It takes a desired position and posture.
- FIG. 2 is a block diagram showing the robot according to the present embodiment.
- the robot 1 has a control unit 101, an input / output unit 102, a drive unit 103, a power supply unit 104, an external storage unit 105, and the like.
- the input / output unit 102 is a camera consisting of a CCD (Charge Coupled Device), etc., for acquiring surrounding video, one or more built-in microphones for collecting ambient sounds, and output audio.
- a speaker 123 for interacting with the user, an LED 124 for expressing the response and emotions to the user, a sensor unit 125 including a touch sensor, and the like.
- the drive unit 103 includes a motor 1 3 1 and a dryer 1 32 that drives the motor, and operates the leg units 4 a and 4 b and the arm units 3 a and 3 b according to user instructions.
- the power supply unit 104 includes a battery 14 1 and a battery control unit 142 that controls the discharging and charging thereof, and supplies power to each unit.
- the external storage unit 10 5 includes a removable HD D, an optical disk, a magneto-optical disk, and the like, stores various programs and control parameters, and stores the programs and data in the control unit 10 0 1 as necessary. To the memory (not shown).
- the control unit includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), an interface for wireless communication, and the like, and controls various operations of the robot 1. Then, this control unit 101 performs path planning based on the image recognition module 1 2 for analyzing the video acquired by the camera 1 2 1 and the image recognition result, for example, according to the control program stored in the ROM. It has a path planning module 1 3, an action decision module 14 that selects actions to be taken based on various recognition results, and a voice recognition module 15 that performs voice recognition.
- CPU central processing unit
- ROM read only memory
- RAM random access memory
- this control unit 101 performs path planning based on the image recognition module 1 2 for analyzing the video acquired by the camera 1 2 1 and the image recognition result, for example, according to the control program stored in the ROM. It has a path planning module 1 3, an action decision module 14 that selects actions to be taken based on various recognition results, and a voice recognition module 15 that performs voice recognition.
- FIG. 3 is a block diagram showing the route planning apparatus according to this exemplary embodiment.
- the route planning module is described here as a route planning device, each block processing can be realized by causing the CPU to execute a computer program.
- the computer program can be provided by being recorded on a recording medium, or can be provided by being transmitted via the Internet or other transmission medium. [0 0 3 3]
- the route planning device 20 includes a route guide region setting unit 21, a region adjustment unit 2 2, an obstacle detection unit 2 3, a prohibited region setting unit 2 4, and a route determination unit 25.
- FIG. 4 is a diagram for explaining a route guide area set by the route guide area setting unit 21 and a prohibited area set by the prohibited area setting unit 24.
- the route guide area setting unit 21 sets a route guide area as a first movement prohibited area on one side or both sides of a robot that is a moving body.
- This route guide region is a region whose outer periphery passes through the center of the robot and assists the generation of a movement route.
- the route guide region 3 1 a having the same shape on the left and right sides of the robot 1 Set 3 lb.
- the route guide areas 3 1 a and 3 1 b are virtual movement prohibition areas that guide the movement path searched by the robot 1 so as to pass through the current position (robot center) of the mouth pot 1.
- the mouth bot 1 sets the route guide areas on both sides of the robot center.
- the direction of rotation is as follows.
- the route guide area may be set only in the area.
- the robot 1 according to the present embodiment expresses itself in point coordinates, and therefore, the route guide area is set with the point coordinates (robot center) in between. If the coordinates are expressed by a certain line segment or an area corresponding to the mouth pot, the area occupied by the mouth pot and the route guide area may be set to contact each other.
- the area adjusting unit 2 2 adjusts the size of the route guide areas 3 1 a and 3 1 b according to the movement of the robot.
- the size of the path guide areas 3 1 a and 3 1 b is controlled so that the size of the path guide areas 3 1 a and 3 1 b increases as the moving speed of the robot 1 increases. It shall be. That is, if the moving speed of the robot 1 is fast, it becomes difficult to follow a path having a steeper carp. Therefore, the size of the route guide areas 3 1 a and 3 1 b is adjusted according to the speed so that natural movement can be expressed.
- FIGS. 5A to 5C are diagrams showing a route guide region. When the moving speed of the mouth pot 1 is increased, the region adjusting unit 22 is changed from the route guide region shown in FIG. 5A to the route guide region shown in FIG. 5B. To enlarge the setting area.
- the route guide areas 3 1 a and 3 1 b are not limited to circular areas, but may be areas that are formed only by convex surfaces surrounded by smooth curves. It can also be an elliptical region. In the case of an ellipse, the major axis can be a direction perpendicular to the moving direction of Ropot 1. By setting the direction perpendicular to the moving direction of the robot 1 as the long axis, it is possible to prevent the robot 1 from going around the route guide area and setting the route.
- the moving distance is generally measured by the number of wheel rotations. Therefore, it is important to move so as not to slip because it is impossible to measure the exact distance when slipping. Therefore, it is necessary to set the route guide area so that the robot 1 rotates at a speed that does not slip or fall.
- the minimum force that would cause robot 1 to fall when applied to robot 1 is the fall force
- the minimum force that robot 1 will slip upon application to robot 1 is the friction force.
- the mass of robot 1 is m
- the path guide areas 31 a and 31 b are circular
- the radius is! :
- the radius of the path guide areas 31 a and 3 l b is the frictional force / tumbling force ⁇ mv 2 / r
- the route guide areas 31 a and 31 b can be set small.
- the route guide areas 31 a and 31 b need to be set large.
- the obstacle detection unit 23 is a sensor unit 125, for example, and detects the obstacle 40 by the sensor.
- the image acquired by the camera 121 is subjected to image processing by the image recognition module 12 to recognize the size, position and height of the obstacle 40.
- the prohibited area setting unit 24 sets a prohibited area 41 as a second movement prohibited area around the obstacle 40 detected by the obstacle detecting unit 23.
- the forbidden area 41 can be a circular area including the obstacle 40, like the route guide areas 31a and 31b. However, the forbidden area 41 can be an area composed only of convex surfaces surrounded by smooth curves. It is not limited to a circle. twitter ⁇ M
- the route determination unit 25 generates the shortest route from the start T 1 to the goal T 2.
- the route generation method known algorithms such as Dijkstra method, A * search, and D P matching can be used.
- a path 51 is generated as the shortest path from the start T1 to the goal T2.
- the robot 1 makes a sudden turn from the current position to the path 51 in an attempt to follow the path 51.
- Such a sudden turn is an unnatural behavior as the behavior of the robot 1.
- the robot 1 cannot set a route in the route guide regions 3 1 a and 3 1 b. Therefore, the path generated by the robot 1 passes through the current position of the robot 1 from the start T 1 and becomes a smooth tune and heel path 5 2 toward the goal T 2, and natural movement is possible.
- FIG. 6 is a flowchart showing the route planning method according to the embodiment of the present invention.
- the environment around the robot 1 is measured by an external sensor, and obstacles around the robot 1 are detected (step S 1). If an obstacle is detected by this obstacle detection, the prohibited area setting unit 24 sets a prohibited area around the obstacle. The range of the prohibited area is set as appropriate according to the moving speed of the robot 1.
- the coordinates of the robot 1 are set as point coordinates.
- the robot 1 is a moving body having a certain range (region). Therefore, in the present embodiment, instead of representing the mouth pot 1 in point coordinates, the obstacle is provided with a range of the prohibition area 41 so that the movement range of the pot 1 has a certain range. This can prevent collisions with obstacles. If the system recognizes the coordinates of the robot 1 not as point coordinates but as the original size of the robot 1, this prohibition area may not be provided.
- the route guide regions 3 1 a and 3 1 b are set on both sides of the robot 1 by the route guide region setting unit 2 1.
- the area adjustment unit 2 2 adjusts the size of the route guide areas 3 1 a and 3 1 b according to the moving speed of the robot 1.
- the area adjustment unit 2 2 determines the shape of the route guide areas 3 1 a and 3 lb depending not only on the movement speed of the robot 1 but also on the type of movement, environment, and situation of the mouth bot 1. Can be changed. For example, when a person is on the robot 1, the radius of the route guide areas 3 1 a and 3 1 b can be increased so as to move gently.
- the frictional force increases, so the radius of the path guide areas 3 1 a and 3 1 b can be set small. In this way, the radius of the route guide areas 3 1 a and 3 1 b can be set according to the movement.
- a route from the start T to the goal T 2 is generated in consideration of the route guide regions 3 1 a, 3 1 b, and the prohibited region 4 1.
- This series of path generation operations can be performed at intervals of, for example, several milliseconds or seconds.
- the optimum route can be set even when the surrounding environment changes.
- a route guide area is provided so as to contact the area occupied by the robot when the robot passes through the point coordinates (robot center).
- the movement route By setting the movement route so that it does not pass through this route guide area, a movement route that always passes through the current position of the robot is generated.
- the curvature of the route guide area is changed according to the movement speed of the pot, and when the speed is high, it moves with a gentle curve, and when the movement speed is slow, it turns with a small turning radius. You can express the movements.
- the present invention provides, for example, a route planning apparatus, a route planning method, and a moving body equipped with this route planning apparatus for a mobile body such as a robot that can move autonomously to determine a movement route according to surrounding conditions. Widely available.
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- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112008001884T DE112008001884T5 (de) | 2007-07-17 | 2008-07-04 | Bahnplanungsvorrichtung, Bahnplanungsverfahren und sich bewegender Körper |
CN200880020836A CN101689053A (zh) | 2007-07-17 | 2008-07-04 | 路径计划装置、路径计划方法以及移动体 |
US12/669,409 US20100198443A1 (en) | 2007-07-17 | 2008-07-04 | Path planning device, path planning method, and moving body |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2007186057A JP2009025898A (ja) | 2007-07-17 | 2007-07-17 | 経路計画装置、経路計画方法及び移動体 |
JP2007-186057 | 2007-07-17 |
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WO2009011296A1 true WO2009011296A1 (ja) | 2009-01-22 |
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PCT/JP2008/062544 WO2009011296A1 (ja) | 2007-07-17 | 2008-07-04 | 経路計画装置、経路計画方法及び移動体 |
Country Status (5)
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US (1) | US20100198443A1 (ja) |
JP (1) | JP2009025898A (ja) |
CN (1) | CN101689053A (ja) |
DE (1) | DE112008001884T5 (ja) |
WO (1) | WO2009011296A1 (ja) |
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- 2008-07-04 WO PCT/JP2008/062544 patent/WO2009011296A1/ja active Application Filing
- 2008-07-04 CN CN200880020836A patent/CN101689053A/zh active Pending
- 2008-07-04 DE DE112008001884T patent/DE112008001884T5/de not_active Withdrawn
- 2008-07-04 US US12/669,409 patent/US20100198443A1/en not_active Abandoned
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CN111553068A (zh) * | 2020-04-23 | 2020-08-18 | 辽宁襄平电力勘测设计有限公司 | 一种基于matlab的输电路径规划方法 |
CN113566057A (zh) * | 2021-07-13 | 2021-10-29 | 广西电力职业技术学院 | 一种机器人路径规划用图像采集装置 |
Also Published As
Publication number | Publication date |
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JP2009025898A (ja) | 2009-02-05 |
DE112008001884T5 (de) | 2010-06-10 |
US20100198443A1 (en) | 2010-08-05 |
CN101689053A (zh) | 2010-03-31 |
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